I think it is wiser to keep the legal right to drive even if you do not end up using it.
In an emergency, a taxi or car share ride could take a while to get to you and also might refuse your ride (if going to the hospital for an emergency, for example). Or you might find yourself in a position where someone who drove becomes unable to do so to get you or themselves home (sick, drunk, whatever) and you could help out. You also might decide to rent a car for some specific purpose at some point, such as for traveling somewhere with poor public transit or if you need a truck for hauling stuff.
I like to err on the side of preparedness.